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  <div class="headertitle"><div class="title">D:/QtProject/DynamicWindowApproach/CoordinateTransformation.h</div></div>
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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#ifndef COORDINATETRANSFORMATION_H</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="preprocessor">#define COORDINATETRANSFORMATION_H</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span> </div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;iostream&gt;</span></div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;math.h&gt;</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span> </div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#define R 6378245.0 </span><span class="comment">//地球半径（赤道）</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#define PI 3.1415926535897932384626</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#define EE 0.00669342162296594323</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#define LON_BOUNDARY_MIN 72.004</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="preprocessor">#define LAT_BOUNDARY_MIN 0.8293</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="preprocessor">#define LON_BOUNDARY_MAX 137.8347</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="preprocessor">#define LAT_BOUNDARY_MAX 55.8271</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#define X_PI 3.14159265358979324 * 3000.0 / 180.0</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span> </div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="keyword">using namespace </span>std;</div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span> </div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="keyword">static</span> pair&lt;double, double&gt; getLngLat(<span class="keywordtype">double</span> &amp;dist, <span class="keywordtype">double</span> &amp;lng, <span class="keywordtype">double</span> &amp;lat, pair&lt;double, double&gt; &amp;rpos);</div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span><span class="keyword">static</span> pair&lt;double, double&gt; getAngleDist(<span class="keywordtype">double</span> lng1, <span class="keywordtype">double</span> lat1, <span class="keywordtype">double</span> lng2, <span class="keywordtype">double</span> lat2);</div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span> </div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span><span class="preprocessor">#endif </span><span class="comment">// COORDINATETRANSFORMATION_H</span></div>
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